Large deflection dynamics and control for planar continuum robots

Ian A. Gravagne, Ian D. Walker, Christopher D. Rahn

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

This paper focuses on a class of robot manipulators termed "continuum" robots - robots that exhibit behavior similar to tentacles, trunks, and snakes. In previous work, we studied details of the mechanical design, kinematics, path-planning and small-deflection dynamics for continuum robots such as the Clemson "Tentacle Manipulator." In this work, we discuss the dynamics of a planar continuum backbone section, incorporating a large-deflection dynamic model. Based on these dynamics, we formulate a vibration-damping setpoint controller, and include experimental results to illustrate the efficacy of the proposed controller.

Original languageEnglish (US)
Pages1943-1952
Number of pages10
StatePublished - Dec 1 2001
Event18th Biennial Conference on Mechanical Vibration and Noise - Pittsburgh, PA, United States
Duration: Sep 9 2001Sep 12 2001

Other

Other18th Biennial Conference on Mechanical Vibration and Noise
CountryUnited States
CityPittsburgh, PA
Period9/9/019/12/01

Fingerprint

Large Deflection
Continuum
Robot
Robots
Manipulators
Controller
Mechanical Design
Robot Manipulator
Snakes
Path Planning
Manipulator
Backbone
Deflection
Controllers
Efficacy
Kinematics
Dynamic Model
Damping
Vibration
Motion planning

All Science Journal Classification (ASJC) codes

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Cite this

Gravagne, I. A., Walker, I. D., & Rahn, C. D. (2001). Large deflection dynamics and control for planar continuum robots. 1943-1952. Paper presented at 18th Biennial Conference on Mechanical Vibration and Noise, Pittsburgh, PA, United States.
Gravagne, Ian A. ; Walker, Ian D. ; Rahn, Christopher D. / Large deflection dynamics and control for planar continuum robots. Paper presented at 18th Biennial Conference on Mechanical Vibration and Noise, Pittsburgh, PA, United States.10 p.
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Gravagne, IA, Walker, ID & Rahn, CD 2001, 'Large deflection dynamics and control for planar continuum robots', Paper presented at 18th Biennial Conference on Mechanical Vibration and Noise, Pittsburgh, PA, United States, 9/9/01 - 9/12/01 pp. 1943-1952.

Large deflection dynamics and control for planar continuum robots. / Gravagne, Ian A.; Walker, Ian D.; Rahn, Christopher D.

2001. 1943-1952 Paper presented at 18th Biennial Conference on Mechanical Vibration and Noise, Pittsburgh, PA, United States.

Research output: Contribution to conferencePaper

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Gravagne IA, Walker ID, Rahn CD. Large deflection dynamics and control for planar continuum robots. 2001. Paper presented at 18th Biennial Conference on Mechanical Vibration and Noise, Pittsburgh, PA, United States.